Acquisition and exploitation of a 3D environment model for computer aided teleoperation

Virtual reality techniques are a promising way to enhance the supervision of a computer aided teleoperation system. We already showed that interactive 3-D modeling is a flexible and sometimes the only possible way to provide the required environment model. In this article we indicate how a combined approach for model acquisition and exploitation can lead to an optimized implementation of both steps, and demonstrate it in the scope of a realistic maintenance mission: the inspection of a tap using a Maestro hydraulic manipulator